Migrate to a new physical robot

Uses the mecanum controller properly across physical and virtual
There is a timing issue with i2c which is why the control update is limited to 10hz
The sonar and LED's arent yet working, this will come soon.

raspbot_v2/README.md

@@ -0,0 +1,46 @@
+# Raspbot-v2 modeling
+
+## Build
+
+ ```bash
+# Load the ros environment
+. /opt/ros/kilted/setup.bash
+
+# Ensure that all the ros package dependencies are installed
+rosdep install -i --from-path src --rosdistro kilted -y
+
+# Build the packages
+colcon build --symlink-install
+
+# Load local ros environment
+. install/local_setup.bash
+
+```
+
+## Launch
+
+```bash
+# Terminal 1
+ros2 launch raspbot_v2 start_world.launch.py
+
+# Terminal 2
+ros2 run teleop_twist_keyboard teleop_twist_keyboard
+```
+
+
+
+## TODO
+- devcontainer
+  - Move rosdep install into base Dockerfle
+- raspbot-v2
+  - ...
+
+## Notes
+
+### Understand container to container networking with dds
+
+Untested, but this might be needed on host.
+
+```bash
+sudo sysctl -w net.core.rmem_max=4194304 net.core.wmem_max=4194304
+```